[paparazzi-commits] [4642] updates

[Anton K.]

Revision: 4642
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4642
Author:   antonk
Date:     2010-03-07 00:21:08 +0000 (Sun, 07 Mar 2010)
Log Message:
-----------
updates

Modified Paths:
--------------
    paparazzi3/trunk/conf/airframes/booz2_NoVa.xml

Modified: paparazzi3/trunk/conf/airframes/booz2_NoVa.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/booz2_NoVa.xml      2010-03-06 19:40:54 UTC 
(rev 4641)
+++ paparazzi3/trunk/conf/airframes/booz2_NoVa.xml      2010-03-07 00:21:08 UTC 
(rev 4642)
@@ -5,7 +5,8 @@
      PPZUAV_BOOZ2_IMU_001 IMU
      PPZUAV_BOOZ2_GPS_001 LEA-5H GPS
      Datamodems configured for 57600 baud
-     Asctec speed controllers-->
+     Modified 6A speed controllers
+     -->
 
  <servos min="0" neutral="0" max="0xff">
     <servo name="FRONT" no="0" min="0" neutral="0" max="255"/>
@@ -67,26 +68,37 @@
   </section>
 
 
+<section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
+      <!-- setpoints -->
+               <define name="SP_MAX_P" value="10000" />
+               <define name="SP_MAX_Q" value="10000" />
+               <define name="SP_MAX_R" value="10000" />
+        <define name="DEADBAND_P" value="0" />
+        <define name="DEADBAND_Q" value="0" />
+        <define name="DEADBAND_R" value="200" />
+        <define name="REF_TAU" value="4" />
 
+        <!-- feedback -->
+               <define name="GAIN_P" value="-400" />
+               <define name="GAIN_Q" value="-400" />
+               <define name="GAIN_R" value="-350" />
 
-  <section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
+        <define name="IGAIN_P" value="-75" />
+        <define name="IGAIN_Q" value="-75" />
+        <define name="IGAIN_R" value="-50" />
 
-    <define name="SP_MAX_P" value="10000"/>
-    <define name="SP_MAX_Q" value="10000"/>
-    <define name="SP_MAX_R" value="10000"/>
+        <!-- feedforward -->
+        <define name="DDGAIN_P" value="300" />
+        <define name="DDGAIN_Q" value="300" />
+        <define name="DDGAIN_R" value="300" />
+       </section>
 
-    <define name="GAIN_P" value="-400"/>
-    <define name="GAIN_Q" value="-400"/>
-    <define name="GAIN_R" value="-350"/>
-
-  </section>
-
   <section name="STABILIZATION_ATTITUDE" prefix="BOOZ_STABILIZATION_ATTITUDE_">
 
     <!-- setpoints -->
     <define name="SP_MAX_PHI"     value="RadOfDeg(45.)"/>
     <define name="SP_MAX_THETA"   value="RadOfDeg(45.)"/>
-    <define name="SP_MAX_R"       value="RadOfDeg(90.)"/>
+    <define name="SP_MAX_R"       value="RadOfDeg(180.)"/><!-- Maximum speed 
in deg/s-->
     <define name="DEADBAND_R"     value="250"/>
 
      <!-- reference -->
@@ -193,20 +205,19 @@
 
  <section name="BAT">
    <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
-   <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
+   <define name="CATASTROPHIC_BAT_LEVEL" value="9.0" unit="V"/>
    <define name="BATTERY_SENS"   value="0.18" integer="16"/>
 <!--   <define name="BATTERY_SENS"   value="1" integer="16"/>-->
  </section>
 
  <section name="AUTOPILOT">
-   <define name="BOOZ2_MODE_MANUAL" value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
-   <define name="BOOZ2_MODE_AUTO1"  value="BOOZ2_AP_MODE_HOVER_Z_HOLD"/>
+   <define name="BOOZ2_MODE_MANUAL" value="BOOZ2_AP_MODE_RATE_DIRECT"/>
+   <define name="BOOZ2_MODE_AUTO1"  value="BOOZ2_AP_MODE_ATTITUDE_DIRECT"/>
    <define name="BOOZ2_MODE_AUTO2"  value="BOOZ2_AP_MODE_NAV"/>
  </section>
 
 
  <section name="MISC">
-
    <define name="BOOZ2_FACE_REINJ_1"  value="1024"/>
  </section>